Thus, in the first step the RGB images are converted to HSV system and selecting the value of color, texture, color, saturation and brightness values of the colors that are appropriate to exclude them from the environment.
So the first step in the RGB image is converted to the HSV system and select the color, the intensity of the color. And the brightness of the colors to separate the desired color from the environment.
Therefore, in the first step in RGB system will be converted into the system and HSV selected values of colors, the intensity of a color. And the brightness of the color appropriate to separate the desired color out of the environment.